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Force override rate control for robotic manipulatorsThe work reported deals with the problem of operating a robot manipulator under a rate control mode while the end effector is not in contact with the external environment, and then switching to a force control mode when contact is made. The paper details how the modal changeover may be accomplished in a manner transparent to the operator, and will allow operator applied forces to be reflected at the robot end effector. A one degree of freedom demonstration system is used to illustrate the concept, which is then applied to a PUMA manipulator. Sample code for the implementation of the control is provided, experimental results show that the optimum setting for the gain is a function of the compliance of the end effector, and the compliance of the external constraint.
Document ID
Document Type
Conference Paper
Driels, Morris
(Naval Postgraduate School Monterey, CA, United States)
Date Acquired
September 6, 2013
Publication Date
January 1, 1994
Publication Information
Publication: NASA. Johnson Space Center, Seventh Annual Workshop on Space Operations Applications and Research (SOAR 1993), Volume 2
Subject Category
Mechanical Engineering
Accession Number
Distribution Limits
Work of the US Gov. Public Use Permitted.
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